<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Collision Checker: /home/osboxes/Documents/p3/root_comm/root/tools/commonroad-collision-checker/cpp/collision/shapegroup.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Collision Checker
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
      <li><a href="globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">shapegroup.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="shapegroup_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef SHAPE_GROUP_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define SHAPE_GROUP_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision/collision_object.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;fcl/fcl_collision_object_group.h&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/shape.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="polygon_8h.html">collision/polygon.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="boundingvolume_8h.html">boundingvolume.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_application_8h.html">collision/Application.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__container_8h.html">collision/collision_container.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a>{</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="namespacecollision.html#af24641d42ec64244029573bf00ab35ae">   22</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;ShapeGroup&gt; <a class="code" href="namespacecollision.html#af24641d42ec64244029573bf00ab35ae">ShapeGroupPtr</a>;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="namespacecollision.html#ac6a8cd2f0dcc88a593ef90363580416a">   23</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const ShapeGroup&gt; <a class="code" href="namespacecollision.html#ac6a8cd2f0dcc88a593ef90363580416a">ShapeGroupConstPtr</a>;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html">   32</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> : <span class="keyword">public</span> FCLCollisionObjectGroup, <a class="code" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS==1</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">friend</span> <span class="keyword">class </span>collision::test::ShapeGroupTest;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">   42</a></span>&#160;  <a class="code" href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">ShapeGroup</a>(): FCLCollisionObjectGroup((<a class="code" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a>*)this) {}</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a8385de01d17ba83f0c2029bdcb472a35">   44</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_shape_group.html#a8385de01d17ba83f0c2029bdcb472a35">~ShapeGroup</a>() {<a class="code" href="classcollision_1_1_shape_group.html#aef69cb27da910ec6363c8b893b21c458">unregister_children</a>();}</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a>&amp; c, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a>&amp; shape, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a>&amp; point, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a>&amp; aabb, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a>&amp; obb, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a>&amp; sphere, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a>&amp; triangle, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a>&amp; tvco, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>&amp; sg, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_polygon.html">Polygon</a>&amp; polygon, <span class="keywordtype">bool</span> prim=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#a7ae57760eb867ff43e1e3a0850e9a0f5">to_string</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#a7c31d474c5202f22af739f67c5e0310e">RayTrace</a>(Eigen::Vector2d point1, Eigen::Vector2d point2, std::vector&lt;LineSegment&gt;&amp; intersect) <span class="keyword">const</span>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_shape_group.html#a73461f77333ba4e80fb42393fca00e01">element_count</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  std::vector&lt;std::set&lt;int&gt;&gt; <a class="code" href="classcollision_1_1_shape_group.html#afd319f0248db7d9b9c0cdc05b86f80bf">overlap_map</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>&amp; sg) <span class="keyword">const</span>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  std::vector&lt;std::pair&lt;int, int&gt; &gt; <a class="code" href="classcollision_1_1_shape_group.html#a24c1ffbe7b1cb3a70259a7f331536f44">overlap</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>&amp; sg) <span class="keyword">const</span>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  ShapeGroupConstPtr <a class="code" href="classcollision_1_1_shape_group.html#a51c19033f79079c61acc0a934acd6502">scale</a>(<span class="keywordtype">double</span> factor) <span class="keyword">const</span>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  ShapeGroupConstPtr <a class="code" href="classcollision_1_1_shape_group.html#a8a7f857c38020505d6c686320155c522">shrink</a>(<span class="keywordtype">double</span> value) <span class="keyword">const</span>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#afb88587fb9d809537a315cc7ba453279">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> <a class="code" href="classcollision_1_1_shape_group.html#adf40bad19e370d14fd6cb24f3e1f8ee7">timeSlice</a>(</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">int</span> time_idx, <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) <span class="keyword">const</span> ;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> <a class="code" href="classcollision_1_1_shape_group.html#a3d32d9839fe97654687c000123fa4d79">getBoundingVolume</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">addToGroup</a>(<a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> shape);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  std::vector&lt;ShapeConstPtr&gt; <a class="code" href="classcollision_1_1_shape_group.html#ada9811657efc1b93f26058c1d3413df8">unpack</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_shape_group.html#afdefdea128dbedcdf1beda5f6aea5d74">get_collision_objects</a>(std::vector&lt;fcl::CollisionObject&lt;FCL_PRECISION&gt;*&gt;&amp; obj_vec) <span class="keyword">const</span>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#a2156bef56624a4b93db6d268fa249aee">addParentMap</a>(std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a>*, std::list&lt;CollisionObjectConstPtr&gt;&gt;&amp; parent_map) <span class="keyword">const</span>;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#a2156bef56624a4b93db6d268fa249aee">addParentMap</a>(std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a>*, std::list&lt;CollisionObjectConstPtr&gt;&gt;&amp; parent_map, <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) <span class="keyword">const</span>;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#aef69cb27da910ec6363c8b893b21c458">unregister_children</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a654bb4a07dd22c21ddeb6d51541aa429">   88</a></span>&#160;    std::vector&lt;ShapeConstPtr&gt; <a class="code" href="classcollision_1_1_shape_group.html#a654bb4a07dd22c21ddeb6d51541aa429">shapes_</a>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <a class="code" href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">ShapeGroup</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>&amp;);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a>&amp;);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;};</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="boundingvolume_8h_html"><div class="ttname"><a href="boundingvolume_8h.html">boundingvolume.h</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_container_html"><div class="ttname"><a href="classcollision_1_1_i_collision_container.html">collision::ICollisionContainer</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__container_8h_source.html#l00013">collision_container.h:13</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html">collision::RectangleOBB</a></div><div class="ttdoc">Oriented rectangle. </div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00016">rectangle_obb.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a3d32d9839fe97654687c000123fa4d79"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a3d32d9839fe97654687c000123fa4d79">collision::ShapeGroup::getBoundingVolume</a></div><div class="ttdeci">BoundingVolumeConstPtr getBoundingVolume() const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00163">shapegroup.cc:163</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html">collision::TimeVariantCollisionObject</a></div><div class="ttdoc">TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step...</div><div class="ttdef"><b>Definition:</b> <a href="timevariant__collisionobject_8h_source.html#l00023">timevariant_collisionobject.h:23</a></div></div>
<div class="ttc" id="namespacecollision_html_aeb672fde41a9aa0fcc1c5da8af2e4657"><div class="ttname"><a href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">collision::ShapeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const Shape &gt; ShapeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00097">collision_object.h:97</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html"><div class="ttname"><a href="classcollision_1_1_triangle.html">collision::Triangle</a></div><div class="ttdoc">Triangle. </div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00017">triangle.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a2156bef56624a4b93db6d268fa249aee"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a2156bef56624a4b93db6d268fa249aee">collision::ShapeGroup::addParentMap</a></div><div class="ttdeci">virtual void addParentMap(std::unordered_map&lt; const CollisionObject *, std::list&lt; CollisionObjectConstPtr &gt;&gt; &amp;parent_map) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00224">shapegroup.cc:224</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_ac7e116ff73d34ebba76ca549092c1ab2"><div class="ttname"><a href="classcollision_1_1_shape_group.html#ac7e116ff73d34ebba76ca549092c1ab2">collision::ShapeGroup::collide</a></div><div class="ttdeci">bool collide(const CollisionObject &amp;c, bool prim=false) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00026">shapegroup.cc:26</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a73461f77333ba4e80fb42393fca00e01"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a73461f77333ba4e80fb42393fca00e01">collision::ShapeGroup::element_count</a></div><div class="ttdeci">int element_count(void) const </div><div class="ttdoc">Returns count of contained objects. </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00100">shapegroup.cc:100</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_adf40bad19e370d14fd6cb24f3e1f8ee7"><div class="ttname"><a href="classcollision_1_1_shape_group.html#adf40bad19e370d14fd6cb24f3e1f8ee7">collision::ShapeGroup::timeSlice</a></div><div class="ttdeci">virtual CollisionObjectConstPtr timeSlice(int time_idx, CollisionObjectConstPtr shared_ptr_this) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00184">shapegroup.cc:184</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html"><div class="ttname"><a href="classcollision_1_1_shape_group.html">collision::ShapeGroup</a></div><div class="ttdoc">ShapeGroup can contain simple shapes. </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8h_source.html#l00032">shapegroup.h:32</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a7c31d474c5202f22af739f67c5e0310e"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a7c31d474c5202f22af739f67c5e0310e">collision::ShapeGroup::RayTrace</a></div><div class="ttdeci">bool RayTrace(Eigen::Vector2d point1, Eigen::Vector2d point2, std::vector&lt; LineSegment &gt; &amp;intersect) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00105">shapegroup.cc:105</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00032">collision_object.h:32</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="_application_8h_source.html#l00025">Application.h:25</a></div></div>
<div class="ttc" id="namespacecollision_html_ac6a8cd2f0dcc88a593ef90363580416a"><div class="ttname"><a href="namespacecollision.html#ac6a8cd2f0dcc88a593ef90363580416a">collision::ShapeGroupConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const ShapeGroup &gt; ShapeGroupConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8h_source.html#l00023">shapegroup.h:23</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_aef69cb27da910ec6363c8b893b21c458"><div class="ttname"><a href="classcollision_1_1_shape_group.html#aef69cb27da910ec6363c8b893b21c458">collision::ShapeGroup::unregister_children</a></div><div class="ttdeci">void unregister_children(void)</div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00018">shapegroup.cc:18</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_afd319f0248db7d9b9c0cdc05b86f80bf"><div class="ttname"><a href="classcollision_1_1_shape_group.html#afd319f0248db7d9b9c0cdc05b86f80bf">collision::ShapeGroup::overlap_map</a></div><div class="ttdeci">std::vector&lt; std::set&lt; int &gt; &gt; overlap_map(const ShapeGroup &amp;sg) const </div><div class="ttdoc">Returns lists of all objects from the other ShapeGroup that collide with each object of this ShapeGro...</div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00077">shapegroup.cc:77</a></div></div>
<div class="ttc" id="collision__container_8h_html"><div class="ttname"><a href="collision__container_8h.html">collision_container.h</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html"><div class="ttname"><a href="classcollision_1_1_sphere.html">collision::Sphere</a></div><div class="ttdoc">Circle. </div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00014">sphere.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a24c1ffbe7b1cb3a70259a7f331536f44"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a24c1ffbe7b1cb3a70259a7f331536f44">collision::ShapeGroup::overlap</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; int, int &gt; &gt; overlap(const ShapeGroup &amp;sg) const </div><div class="ttdoc">Returns Vector of pairs of indexes of the intersecting objects within the ShapeGroup and another Shap...</div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00122">shapegroup.cc:122</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_ada9811657efc1b93f26058c1d3413df8"><div class="ttname"><a href="classcollision_1_1_shape_group.html#ada9811657efc1b93f26058c1d3413df8">collision::ShapeGroup::unpack</a></div><div class="ttdeci">std::vector&lt; ShapeConstPtr &gt; unpack() const </div><div class="ttdoc">Returns Vector of all shapes contained inside the ShapeGroup. </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00212">shapegroup.cc:212</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a8385de01d17ba83f0c2029bdcb472a35"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a8385de01d17ba83f0c2029bdcb472a35">collision::ShapeGroup::~ShapeGroup</a></div><div class="ttdeci">virtual ~ShapeGroup()</div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8h_source.html#l00044">shapegroup.h:44</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a></div><div class="ttdoc">Axis-aligned rectangle. </div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00018">rectangle_aabb.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a8a7f857c38020505d6c686320155c522"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a8a7f857c38020505d6c686320155c522">collision::ShapeGroup::shrink</a></div><div class="ttdeci">ShapeGroupConstPtr shrink(double value) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00138">shapegroup.cc:138</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle. </div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00027">shape.h:27</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a8c03ac637224437c0a799b5aded85314"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">collision::ShapeGroup::ShapeGroup</a></div><div class="ttdeci">ShapeGroup()</div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8h_source.html#l00042">shapegroup.h:42</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_afdefdea128dbedcdf1beda5f6aea5d74"><div class="ttname"><a href="classcollision_1_1_shape_group.html#afdefdea128dbedcdf1beda5f6aea5d74">collision::ShapeGroup::get_collision_objects</a></div><div class="ttdeci">int get_collision_objects(std::vector&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; &amp;obj_vec) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00007">shapegroup.cc:7</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_afb88587fb9d809537a315cc7ba453279"><div class="ttname"><a href="classcollision_1_1_shape_group.html#afb88587fb9d809537a315cc7ba453279">collision::ShapeGroup::print</a></div><div class="ttdeci">virtual void print(std::ostringstream &amp;stream) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00150">shapegroup.cc:150</a></div></div>
<div class="ttc" id="collision__object_8h_html"><div class="ttname"><a href="collision__object_8h.html">collision_object.h</a></div></div>
<div class="ttc" id="polygon_8h_html"><div class="ttname"><a href="polygon_8h.html">polygon.h</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a654bb4a07dd22c21ddeb6d51541aa429"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a654bb4a07dd22c21ddeb6d51541aa429">collision::ShapeGroup::shapes_</a></div><div class="ttdeci">std::vector&lt; ShapeConstPtr &gt; shapes_</div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8h_source.html#l00088">shapegroup.h:88</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups. </div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a0a570ef4b0d6ee7ea2f2f1721d528a43"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">collision::ShapeGroup::addToGroup</a></div><div class="ttdeci">void addToGroup(ShapeConstPtr shape)</div><div class="ttdoc">Adds a simple shape to the ShapeGroup. </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00200">shapegroup.cc:200</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a7ae57760eb867ff43e1e3a0850e9a0f5"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a7ae57760eb867ff43e1e3a0850e9a0f5">collision::ShapeGroup::to_string</a></div><div class="ttdeci">void to_string(std::ostringstream &amp;stream) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00154">shapegroup.cc:154</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a51c19033f79079c61acc0a934acd6502"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a51c19033f79079c61acc0a934acd6502">collision::ShapeGroup::scale</a></div><div class="ttdeci">ShapeGroupConstPtr scale(double factor) const </div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8cc_source.html#l00128">shapegroup.cc:128</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1f68b4864b28e2694b3b3b7a1f9e43c"><div class="ttname"><a href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">collision::BoundingVolumeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const BoundingVolume &gt; BoundingVolumeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00035">collision_object.h:35</a></div></div>
<div class="ttc" id="namespacecollision_html_af24641d42ec64244029573bf00ab35ae"><div class="ttname"><a href="namespacecollision.html#af24641d42ec64244029573bf00ab35ae">collision::ShapeGroupPtr</a></div><div class="ttdeci">std::shared_ptr&lt; ShapeGroup &gt; ShapeGroupPtr</div><div class="ttdef"><b>Definition:</b> <a href="shapegroup_8h_source.html#l00022">shapegroup.h:22</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html"><div class="ttname"><a href="classcollision_1_1_point.html">collision::Point</a></div><div class="ttdoc">A point in space. </div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00015">point.h:15</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html"><div class="ttname"><a href="classcollision_1_1_polygon.html">collision::Polygon</a></div><div class="ttdoc">Polygon contains Triangles and Vertices. </div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00021">polygon.h:21</a></div></div>
<div class="ttc" id="_application_8h_html"><div class="ttname"><a href="_application_8h.html">Application.h</a></div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
</body>
</html>
